摘要
为解决丘陵地形农业机械化程度低、大型农机无法适应丘陵地形作业等问题,设计了多功能微型电动自动驾驶作业平台。按照双车头、无驾驶室设计理念,传动机构采用双电机驱动,行驶机构采用三角履带轮,转向机构采用四轮同向转向机构与差速转向控制系统,以便作业平台能够斜向行驶,以满足丘陵地形狭窄场景作业要求。建立了1∶5样机模型,据此对作业平台跨越壕沟能力与翻越垂直障碍能力进行了试验分析。结果表明,样机模型应对复杂地形能力较强,最大跨越壕沟宽度为4 cm,翻越垂直障碍高度为5 cm,最小转弯半径为20 cm,基本能够适应壕沟、坡道等场景。由此可知,本研究设计的作业平台技术方案可行,能够满足丘陵地形果园用户的实际需求。同时,采用理论计算、仿真分析、模型验证的产品开发过程,为节省农机新产品研发成本提供了新思路。
In order to solve the problems of low mechanization of agriculture in hilly terrain and the inability of large agricultural machinery to adapt to hilly terrain operations,a multifunctional micro-electric autonomous driving operation platform had been designed.According to the design concept of dual front end and no cab,the transmission mechanism was driven by dual motors,the driving mechanism was driven by triangular track wheels,and the steering mechanism adopted a four-wheel co-directional steering mechanism and differential steering control system,so that the work platform could drive diagonally to meet the requirements of narrow hilly terrain operations.A 1∶5 prototype model was established to conduct experimental analysis on the ability of the work platform to cross trenches and vertical obstacles.The results showed that the prototype model had a strong ability to cope with complex terrain,with a maximum width of 4 cm for crossing trenches,a height of 5 cm for crossing vertical obstacles,and a minimum turning radius of 20 cm.It could basically adapt to scenarios such as trenches and ramps.From this,it could be seen that the technical solution of the work platform designed in this study was feasible and could meet the actual needs of orchard users in hilly terrain.At the same time,the product development process using theoretical calculations,simulation analysis,and model validation provided new ideas for saving the research and development costs of new agricultural machinery products.
作者
杨涛
吴柏强
李晓晓
黄波
冉光泽
YANG Tao;WU Bai-qiang;LI Xiao-xiao;HUANG Bo;RAN Guang-ze(School of Mechanical and Electrical Information,Chengdu Agricultural College,Chengdu 611130,China;Chengdu Haiyi Mechanical and Electrical Equipment Co.,Ltd.,Chengdu 610199,China;School of Mechanical Engineering,Chengdu University,Chengdu 610106,China;Agricultural and Rural Bureau of Cuiping District,Yibin 644000,Sichuan,China)
出处
《湖北农业科学》
2023年第9期158-164,169,共8页
Hubei Agricultural Sciences
基金
四川省大学生创新创业训练计划平台资助项目(S2021129650011)
成都市科学技术局资助项目(2021-YF05-00619-SN)
成都农业科技职业学院资助项目(20ZR108)。
关键词
丘陵地形
果园
电动农机
自动驾驶
作业平台
视觉导航
hilly terrain
orchard
electric agricultural machinery
autonomous driving
work platform
visual navigation